文档介绍：Mechanism and Machine Theory 44 (2009) 1270–1280
Contents lists available at ScienceDirect
Mechanism and Machine Theory
journal homepage: ate/mechmt
A new trifilar pendulum approach to identify all inertia parameters
of a rigid body or assembly
Hou Zhi-Chao *, Lu Yi-ning, Lao Yao-xin, Liu Dan
State Key Laboratory of Automotive Safety and Energy, Tsinghua University, Beijing 100084, China
article info abstract
Article history: An improved approach is presented for using a trifilar pendulum to identify 10 inertia
Received 11 September 2006 parameters of odd-shaped bodies. The parameters include the mass, the coordinates of
Received in revised form 14 July 2008 the center of gravity, and the moments and products of inertia. Owing to carefully designed
Accepted 15 July 2008
procedures of distance measurement and coordinate transform, no angular measurement
Available online 29 August 2008
is necessary for orientation description in the new approach. Balancing weights and load
cells are introduced to facilitate the adjustments of the location and orientation of the body
during tests. In order to evaluate the precision of the identified results, tentative error indi-
Keywords:
ces are suggested for the parameters, respectively. Two examples are given to demonstrate
Trifilar pendulum
Inertia parameters the new approach.
Coordinate transform Ó 2008 Elsevier Ltd. All rights reserved.
Error analysis
1. Introduction
For the sake of dynamic analysis and subsequent structural design of many practical engineering applications, it is
often necessary to know the inertia properties of a structure. The structure, which is regarded as rigid, will be referred
in the following sections as ‘‘the target body” or ‘‘the body” for simplicity. The widely used inertia properties include 10
parameters, namely the mass, the coordinates of the centroid, and the six independent entries of the inertial tensor.
Quite a few approaches have been developed to identify t